Manual

Detailed Descriptions of ACL Commands 3-45
Examples:
MN4,3,3; allows bit 0 OR bit 1 to cause a Dynamic Teach, if either becomes set during a
move.
MN8,3,3; allows bit 0 OR bit 1 to cause Dynamic Deceleration if either becomes set during
a move.
If mode bits for ANDing and ORing are both set at the same time, the AND bits will have
precedence to maintain compatibility with older software.
For more information about the Digital Inputs please see Chapter 8 Using the Digital
Outputs and Inputs.
MR <dx>, <dy> Move Relative
The MR command produces a straight vector motion like that of the MA command, except
that the MR parameters <dx> and <dy> are interpreted as an offset relative to the current
Commanded position. (In contrast, the MA parameters <x> and <y> are absolute; i.e., they
give an offset from the Origin position.) The range of <dx> and <dy> is -32768.0000
through 32767.9999.
The System adds <dx> and <dy> to the Commanded position and saves the results as the
new Commanded position. Next, it rotates the position by the pattern rotation angle (see
BP). It then multiplies by the calibration factors, rounds to the nearest integer, and adds the
Origin location to produce a pair of microstep coordinates. At this point the XY Linearity
Correction Table is applied. Then a vector to this point is performed as by the MA
command.
The intermediate computation results must be within the range -32768 through 32767 and
the final results (before Linearity Correction) must be within the travel limits. If either
restriction is not met an error is logged, the out-of-range coordinate is set to the value of the
nearest travel limit, and a vector to the resulting point is performed. (This is NOT a
straight-line clipping algorithm.)
The MR command is ignored while the machine is in the Emergency Stopped state. If the
STOP button is pressed (or an external Emergency Stop switch closes) during the vector, the
motors stop immediately and the Home position reference becomes inaccurate. See the
STOP button in Chapter 4 and the FH command in this chapter.
The effects of the MR command can be altered by the Vector Mode; see the VM command.
If short-vector system throughput is important, see Appendix E Speed Considerations.